Tractor with monitoring system

ABSTRACT

A tractor includes a cab mounted analysis/display unit ( 1 ) connected to a number of on-board sensors for detecting speed, fuel flow, etc and also capable of receiving data input manually or via a data carrier. The unit ( 1 ) is also connected to an on-board GPS navigation system ( 24 ), and includes means for generating maps of tractor-related parameters and/or parameters derived therefrom. The math usefulness of the system is in derby “on the go” maps of cost related data for a given field operation. Cost maps for cumulative operations and maps of gross profit margin are possible by adding “on the go” generated cost data to previously generated cost and/or yield data as the tractor performs an operation in a field.

[0001] The present invention relates to a tractor with a monitoringsystem and means for locating the tractor.

[0002] It is known to display sensed parameters on an electronic tractormonitoring system. It is also known to provide a location system, eg aGPS satellite location system, in a combine harvester and to combineinformation from such a system with, for example, a continuous signalrepresentative of the rate of flow of grain entering the harvester,thereby to produce a “yield map” showing grain yield as a map over anarea where the combine harvester has travelled.

[0003] The object of the present invention is to provide a tractor withan improved monitoring system.

[0004] In accordance with the present invention a tractor is providedhaving the features of claim 1 hereto, with optional features listed inclaims 2 to 7. A method in accordance with the invention is set out inclaim 8 hereto, with preferable features set out in claims 9 and 10hereto.

[0005] Further features and details of the present invention will beapparent from the following specific description given by way of exampleonly with reference to the accompanying drawings in which:

[0006]FIG. 1 is a schematic side sectional view of a tractor inaccordance with the invention, and

[0007]FIG. 2 is an example map produced in accordance with theinvention.

[0008] Referring firstly to FIG. 1, a tractor in accordance with theinvention comprises the standard elements of an engine E, gearbox G/B,PTO output shaft P, and three point linkage L.

[0009] Situated in the tractor cab is an electronic monitoring systemanalasys/display unit 1 into which run lines from a number of electronicsensors an the tractor.

[0010] A fuel tank 2 is housed at the rear of tractor and a fuel line 3passes from the tank to the engine E via a fuel flow sensor 4. Anelectronic output from the fuel flow sensor 4 is connected via line 5 tothe display unit 1.

[0011] A further sensor 6 for detecting engine speed, is of the magneticinductance type and is mounted adjacent a gear 7 which drives the engineoil pump. The electronic output of the sensor 6 is connected via a line9 to the display unit 1.

[0012] A radar speed sensor 10 is mounted underneath the tractor fordetecting actual speed over the ground. The sensor 10 is connected via aline 11 to the display unit 1.

[0013] A further magnetic inductance sensor 12 is associated with thecrown wheel 13 on the rear axle of the tractor for detecting“theoretical” forward speed (ie forward speed with no wheel slip). Theelectronic output of the inductance sensor 12 is connected via a line 14to the display unit 1.

[0014] A further magnetic inductance sensor 15 is associated with thepower take off gearbox 16 and detects the PTO speed. The electronicoutput of the sensor 15 is connected via a line 17 to the display unit1.

[0015] The three point linkage L has both draft force and positionsensors associated with the top link joint, the sensors being commonlyshown in FIG. 1 by the numeral 18. The force sensor is of known type,taking the form of a joint pin incorporating strain gauges. Theelectronic output from the force sensor is connected via a signal line19 to the display unit 1. The position of the linkage, that is to sayits height, is measured by a rotary potentiometer associated with thetop link joint. The potentiometer is connected via a line 20 to thedisplay unit 1.

[0016] Situated in the tractor cab is an electronic linkage control unit21 of known type, which includes a linkage lift/lower control 22. Theelectronic linkage control unit is connected via a line 23 to thedisplay unit 1.

[0017] The tractor is fitted with a GPS satellite navigation system 24which is connected via signal line or lines 25 to the display unit 1.

[0018] Finally, a socket 26 is provided for receive an input signal froman implement connected to the tractor, and this is connected via a line27 to the display unit 1.

[0019] The display unit 1 includes a touch sensitive screen 28 via whicha number of functions connected with monitoring/displaying tractorparameters may be selected and controlled. The unit 1 also allows thevarious parameters as sensed on the tractor, as well as informationderived therefrom, to be displayed on the screen 28, or alternativelyoutput on to a data carrier inserted into a slot 29, or alternativelyoutput in printed form on a paper tape output from slot 30.

[0020] The display unit 1 is essentially also a data processing unit, aswill be appreciated from what has been said above. The unit includes anintegral clock, a microprocessor and electronic memory. Software toenable the functions described above to be performed, is stored andimplemented by the unit 1. The unit 1 is programmed to accept the inputof certain paraders either manually via the touch screen or via a datacarrier, such as a magnetic disk or PCMIA card inserted in to the slot29. The unit 1 is also programmed to receive information from the GPSnavigation system 24 and combine this with any of the parameters sensedby the various sensors around the tractor together with any relevantdata input manually or via a data carrier. In this way, the unitproduces maps of tractor speed information which may be combined withmanually input information.

[0021] At its simplest level, the system may be used to generate, forexample, a map of fuel used per hectare when performing an operationwith a soil penetrating implement. To generate such a map, the unit 1would employ information from the GPS unit 24, from the fuel flow sensor4, from the tractor speed sensor 10 and from a manual inputrepresentative of the width of the implement being used, and thus thewidth of the strip of field processed on any given run of the tractor.The unit 1 would also use the input from the electronic linkage control21, which includes an indication of whether the implement is in a raisedor lowered condition and therefore out of work or in work. Lastly, theunit 1 would use information from its integral clock.

[0022] A realistic map of fuel used per hectare may then be generated bycontinuously sensing the fuel flow data from the sensor 4 andcontinuously calculating the rate at which area is being covered(derived from speed and implement width), and sampling these parametersrepeatedly at known positions of the tractor (from the GPS). At eachsampling point, a value for fuel used since the last sample is dividedby hectares covered since the last sample and this fuel/hectare valuecorrelated to tractor position. At the end of each run, the linkage willof course be raised to bring the implement out of work and this factwill be recognised by the unit 1 from the signal on line 23 from theelectronic linkage control 21 The amount of fuel used from the time theimplement is lifted out of work until the time it is returned into workat the start of the next run can be retrospectively added to the seriesof fuel/hectare values for the previous run, being apportioned equallyover all the readings. Alternatively, the value for fuel used can bestored and then apportioned equally over the readings for the next run.Either way, the fuel used per hectare figure for a narrow portion offield with very short runs will reflect the fact that the tractor spendsa relatively large percentage of its time turning on headlands.

[0023] In a simple modification of the above process, the fuel used perhectare figure can be amended to a fuel cost per hectare figure by thesimple incorporation of a manually input unit fuel cost figure.

[0024] It will be appreciated that the operation described aboveinvolves automatic sensing of lifting and lowering of the tractorlinkage at each end of a run (simply by noting the position of thelift/lower switch 22). Alternatively, in an operation where the linkageis not lifted and lowered at the end/start of each run (eg spreadingfertiliser), a further manual input can be provided in the form of anicon on the touch screen which is touched at the end and the start ofeach run. Alternatively, this information could be input directly fromthe implement via the socket 26 and line 27. There could also be someform of connection between the unit 1 and a cab mounted implementcontrol unit to achieve the same result.

[0025] The above described operation is a novel and relatively simpleway of providing an indication of the cost of performing a process on afield, showing how that cost is distributed across the field. A moreuseful way of doing this is to combine all or at least most of thesensed tractor parameters described above with data input manually orvia a data carrier as follows:

[0026] 1 cost of tractor driver per hour;

[0027] 2 depreciation of tractor per hour;

[0028] 3 maintenance cost of tractor per hour;

[0029] 4 a parameter representative of tractor tire cost per hour;

[0030] 5 a parameter representative of soil type.

[0031] The cost of a driver's wages, depreciation and maintenance needno explanation; their effect on the cost of the tractor operation isself-explanatory. Actual tractor tire wear is influenced by a number offactors, so a basic tire cost parameter is used representing purchasecost depreciated over an average tire lifetime. This is then modified bythe unit 1 according to the soil type parameter, since certain types ofsoil will wear a tire quicker than others. Other factors used tocalculate actual tire wear, and therefore cost, are wheel slip, which isdirectly calculated from the actual speed sensor 10 and theoreticalspeed sensor 12, draft force from the draft force sensor 18 assuming asoil penetrating implement is attached, and forward speed from thesensor 10.

[0032] A possibility with this system is the generation of cumulativetreatment cost maps. A previously generated cost map for a giventreatment, eg ploughing a field, may be inserted into the unit 1, andthen information relating to the cost of a second process added as thesecond process is performed. If this is done for every treatment appliedto the field, a reasonably true indication of the cost of growing thatcrop, as mapped across the fields may be produced. In addition, theprevious year's yield in the form of a map on a data carrier may beinput into the unit 1 together with a manually input figurerepresentative of the value of the crop per tonne. In this way, a “grossmargin” map can be produced which gives a direct indication of whichparts of the field are more profitable than others and which may showthat some parts of the field are actually making a loss.

[0033] For some field operations, the cost is going to be relativelyuniform and mapping, therefore, not really worthwhile. In this case, amanually input constant value of cost/hectare may be used for one ormore of the field processes) when generating a cumulative cost map asdescribed above.

[0034] A useful variation of the above is to produce a map of “fieldefficiency”, that is to say the percentage of time spent working thefield as opposed to turning on headlands, combined with a constant valuefor cost/hour. Cost/hectare is then calculated “on the go” during a run,based on speed and implement width, and sampled at intervals for mappingas with the previously described mapping processes. At the and of eachrun, the cost of the time spent turning before starting the next run iscalculated and averaged over the sampled values (or alternatively storedand then averaged over the sampled values for the next run). Arefinement of this would be to have different constant cost/hour valuesfor “in work” and “out of work”.

[0035] A map of field efficiency alone can also be very useful, ie a mapsimply showing an efficiency value for each tractor run. Such a map maybe used to design field shapes and/or the direction of ploughing etc.

[0036] It should be noted that field efficiency will vary betweenprocesses; the time spent on headlands will generally be much moresignificant for a fast process than a slow one.

[0037] For any map of cost related data, field efficiency is one of themajor factors contributing to cost and may be used in many differentways.

[0038] Although mapping cost related parameters is very useful, thisinvention is not restricted to the mapping of cost related parameters. Amap showing one of the tractor sensed parameters mentioned above asdistributed over a field during a given treatment process can be usefulin its own right. For example, the variation of PTO speed during afertiliser spreading process can be useful to monitor since the map mayshow that PTO speed dropped to an unacceptable level for part of thetime, in which case the spread of fertiliser may have been inadequateand may require subsequent treatment to ensure that sufficientfertiliser is applied. Such a map could be derived using data eitherfrom the PTO speed senior or engine speed sensor, since the PTO gearratio will be a known constant.

[0039] Another parameter which could usefully be mapped during, say, aploughing operation, is linkage height. If the linkage control is indraft control mode, as is conventional for a ploughing operation, thelinkage height will be automatically adjusted to maintain draft forceconstant. Consequently, a map of linkage height gives an indication ofwhere areas of difficult soil are.

[0040] For any of the types of map described above, the presentation ofthe map will be most useful if a stain shading or colour is given toeach area of the field map where the mapped parameter falls in a givenrange. An example of this is shown in FIG. 2 where three ranges ofmapped parameter are used, A, B and C. The actual parameter shown onthis map is unimportant—it could be any of those described above or anynumber of other possibilities.

[0041] The software with which the unit 1 is programmed has the facilityto allow selection of ranges for creating a map of the form shown inFIG. 2.

1. A tractor including an electronic monitoring system, the systemcomprising: (a) means for displaying and/or producing an output ofinformation; (b) means for sensing parameters of the tractor; (c)locating means for establishing the position of the tractor, and (d)means for combining one or more of the sensed parameters with positionalinformation from the locating means to produce a map of one or more ofthe said parameters, or a parameter or parameters derived therefrom, asdistributed across an area over which the tractor has travelled.
 2. Atractor as claimed in claim 1 , wherein the said means for sensingparameters of the tractor include one or more sensors selected from thegroup comprising: (a) an actual speed sensor for directly sensing theactual speed of the tractor over ground; (b) a theoretical speed sensorfor sensing from the tractor transmission the theoretical speed of thetractor if no wheel slip is occurring; (c) an engine speed sensor fordetecting the revolutions made by the engine of the tractor per unittime; (d) a fuel flow sensor for detecting the fuel used by the tractorengine per unit time.
 3. A tractor as claimed in claim 1 or claim 2 ,having one or more power take off shafts, the said means for sensingparameters of the tractor including a power take off speed sensor orsensors for sensing the revolutions per unit time made by the power takeoff shaft or shafts.
 4. A tractor as claimed in any preceding claimhaving one or more implement linkages, the said means for sensingparameters of the tractor including one or more sensors selected fromthe group comprising: (a) a linkage position sensor; (b) a sensor fordetecting whether the linkage is in a raised or lowered state; (c) adraft force sensor or sensor on the linkage or linkages for sensing thedraft force exerted on the tractor by any implement attached to thetractor.
 5. A tractor as claimed in any preceding claim, the monitoringsystem including means for inputting, either manually or from a datacarrier or by remote communication, data representative of one or moreparameters selected from the following group, or a combination orcombinations thereof: (a) width of an implement attached to the tractor;(b) cost of fuel; (c) cost of tractor driver; (d) depreciation cost oftractor; (e) maintenance cost of tractor; (f) tractor tire cost; (g) aparameter representative of soil type; (h) crop value; (i) crop yield;(j) cost of a field treatment process; (k) starting/stopping anoperation of so implement attached to the tractor; wherein the saidcombining means includes means for combining some or all of the saidinput data with one or more sensed tractor parameters and withpositional information from the locating means to produce a map of aparameter derived from the said sensed parameter(s) and from input dataselected from the said group as distributed across an area over whichthe tractor has travelled.
 6. A tractor as claimed in any precedingclaim; wherein the monitoring system includes means for receiving anelectronic input representative of implement width directly from animplement attached to the tractor.
 7. A tractor as claimed in claim 2and claim 4 , or any claim when dependent thereon, the parameter sensingmeans including the said linkage raised/lowered state sensor and thesaid actual speed and fuel flow sensors, the monitoring system furthercomprising means for noting the time and/or tractor location of a firstlowering of the linkage, first raising of the linkage and a secondlowering of the linkage, and means for calculating the fuel used betweenthe said first raising and second lowering, and adding an equal portionof the said fuel used value, or a value derived therefrom, to eachsample in a series of sampled sensed parameters sampled in the intervalbetween the said first lowering and first raising.
 8. A method ofgenerating a map of estimated actual cost involved in applying atreatment or treatments to an area of agricultural land, as distributedover the said area of land, the method comprising: (a) driving a tractoraccording to any of claims 1 to 7 , with an implement attached theretofor applying the said treatment across the said area of land until theentire area is treated; (b) prior to or during the said driving step,inputting into the said monitoring system data representative of one ormore parameters selected from the following group, or a combination orcombinations thereof: (i) width of the said implement; (ii) cost offuel; (iii) cost of tractor driver; (iv) depreciation cost of tractor;(v) maintenance cost of tractor; (vi) tractor tire cost; (vii) aparameter representative of soil type; (viii) data representative of thecost of a previous treatment or treatments of the said area of land;(ix) the starting/stopping of an operation of an implement attached tothe said tractor; (c) during the said driving step, automaticallygenerating the said map using sensed tractor parameter(s), input dataselected from the said group and positional information from the saidlocating means
 9. A method as claimed in claim 8 further including thestep of combining data representative of a unit crop value and data inthe form of a map of yield from a previous harvest of the said crop fromthe said area of land with the said sensed parameter(s), the said inputdata and the said positional information to produce a map representinggross profit margin as distributed across the said area, the saidfurther combining step being performed as the tractor is driven acrossthe field.
 10. A method as claimed in claim 8 or claim 9 wherein thesaid sensed tractor parameters include fuel flow rate, actual tractorspeed and the lifting/lowering of the linkage, the further methodcomprising the steps of: (a) noting the time and/or tractor location ata first lowering of the linkage, first raising of the linkage and asecond lowering of the linkage; (b) calculating the fuel used betweenthe said first raising and second lowering; (c) adding the calculatedfuel used value, or a value derived therefrom, to data gathered in theinterval between the said first lowering and first raising of thelinkage.